CN116873201B - Self-adaptive navigation situation sensing equipment throwing protection device based on ship navigation - Google Patents
Self-adaptive navigation situation sensing equipment throwing protection device based on ship navigation Download PDFInfo
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- CN116873201B CN116873201B CN202311122245.7A CN202311122245A CN116873201B CN 116873201 B CN116873201 B CN 116873201B CN 202311122245 A CN202311122245 A CN 202311122245A CN 116873201 B CN116873201 B CN 116873201B
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- 230000008447 perception Effects 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 66
- 230000007306 turnover Effects 0.000 claims description 22
- 230000005540 biological transmission Effects 0.000 claims description 7
- 241000252254 Catostomidae Species 0.000 claims description 6
- 239000004744 fabric Substances 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 230000003044 adaptive effect Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- 230000002441 reversible effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/54—Floats
- B64C25/56—Floats inflatable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U60/00—Undercarriages
- B64U60/10—Undercarriages specially adapted for use on water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
- B64U2101/69—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons the UAVs provided with means for airdropping goods, e.g. deploying a parachute during descent
Abstract
Self-adaptation navigation situation perception equipment throws protection device based on boats and ships are piloted, includes: the device comprises a connecting device, a buffer dropping device, a fixing device, a pressing device, a shell and a control device; an opening for the self-adaptive navigation situation sensing equipment to pass through is formed in the bottom of the shell; one end of the connecting device is fixedly connected with the unmanned aerial vehicle, and the other end of the connecting device is in sliding connection with the shell; the self-adaptive navigation situation sensing equipment is arranged in the shell and is fixed by a fixing device arranged on the shell; the pressing device is arranged on the shell and is positioned above the self-adaptive navigation situation sensing equipment; the buffer landing device is arranged on the outer side of the shell; an air bag and a sensor for ranging are fixedly arranged on the shell; according to the invention, the self-adaptive navigation situation sensing equipment can be put on the ship board through the unmanned aerial vehicle, a pilot does not need to carry the self-adaptive navigation situation sensing equipment to board, and the safety risk caused by boarding and disembarking of the pilot is effectively avoided.
Description
Technical Field
The invention relates to the technical field of ships, in particular to a self-adaptive sailing situation sensing equipment throwing protection device based on ship piloting.
Background
The port-entering berthing process of the ship is a link with larger risk in the whole voyage of the ship, the complexity of the water area environment of the port brings great test to pilot of the ship, and the berthing accident rate of the ship is increased year by year along with the large-scale development of the ship;
most of the reasons for pilot berthing accidents are that the ship attitude information is not mastered sufficiently, so that pilot misjudgment and improper operation are caused; navigation aid equipment such as a commonly used ship-borne radar, GPS navigation positioning and the like is difficult to provide visual, accurate and real-time ship attitude information; while the pilot equipment carried by the pilot and used on the vessel can also reflect positional information of the vessel while sailing, its weight and volume increase the safety risk of the pilot boarding off the vessel through the rope ladder;
to the demand to boats and ships navigation situation information and berth range finding in-process of berthing, this patent creatively proposes self-adaptation navigation situation perception equipment based on boats and ships navigation throws protection device, can steadily throw on the boats and ships under unmanned aerial vehicle's drive with the self-adaptation navigation situation perception equipment of boats and ships navigation through this device, has effectively avoided the pilot to step on the security risk that brings off the ship.
Disclosure of Invention
In order to solve the problems in the background technology, the invention provides a self-adaptive sailing situation sensing equipment throwing protection device based on ship piloting, which comprises the following specific technical scheme:
self-adaptation navigation situation perception equipment throws protection device based on boats and ships are piloted, includes: the device comprises a connecting device, a buffer dropping device, a fixing device, a pressing device, a shell and a control device; an opening for the self-adaptive navigation situation sensing equipment to pass through is formed in the bottom of the shell; one end of the connecting device is fixedly connected with the unmanned aerial vehicle, and the other end of the connecting device is in sliding connection with the shell; the self-adaptive navigation situation sensing equipment is arranged in the shell, and is fixed through a fixing device arranged on the shell; the pressing device is arranged on the shell, is positioned above the self-adaptive navigation situation sensing equipment and is used for pressing the self-adaptive navigation situation sensing equipment downwards; the buffer landing device is arranged outside the shell;
the fixing device is provided with a bottom plate turnover mechanism, a fixing mechanism and a fixing mechanism II; the bottom plate turnover mechanism is rotatably arranged at the bottom end of the shell, and the fixing mechanism is fixedly arranged on the bottom plate turnover mechanism; the bottom plate turnover mechanism rotates when a certain distance is kept from the ship plate, so that the fixing mechanism is perpendicular to the ship plate, and the self-adaptive navigation situation sensing equipment throwing protection device is fixedly arranged on the ship plate by the fixing mechanism; the second fixing mechanism is fixedly connected between the shell and the self-adaptive navigation situation sensing equipment;
the shell is fixedly provided with an air bag and a sensor for distance measurement;
the control device is used for controlling the operation of the throwing protection device of the whole self-adaptive navigation situation sensing equipment based on ship navigation except the control device.
Further, the connecting device is provided with a fixed disc, a fixed frame, an air cylinder and a pushing rod; the fixed disc is fixedly arranged on the unmanned aerial vehicle; at least two fixing frames are uniformly distributed and fixedly arranged on the fixing disc, and the other end of the fixing frame is horizontally and elastically slidably provided with a limiting rod; a chute corresponding to one end of the limiting rod is arranged on the shell; the pushing rods are corresponding to the limit rods in number; the limiting rod is provided with a through hole, and the pushing rod is slidably arranged in the through hole on the limiting rod and is driven by an air cylinder fixedly arranged on the fixed disc; the pushing rod is provided with an inclined plane a for pushing one end of the limiting rod into the sliding groove on the shell under the driving of the air cylinder.
Further, a second fixing frame, a first arc-shaped rod, a second arc-shaped rod and a third fixing frame are arranged on the buffer landing device; the second fixing frames are symmetrically and fixedly arranged on the shell in front-back mode; the fixing frame III is fixedly arranged on the shell; two ends of the arc-shaped rod II are respectively and fixedly arranged on a fixing frame II; the two ends of the first arc-shaped rod are respectively and rotatably arranged on a second fixing frame, correspond to the two arc-shaped rods and are driven by a first motor fixedly arranged on a third fixing frame; the first arc-shaped rod and the second arc-shaped rod are connected through soft fabrics.
Further, the bottom plate turnover mechanism is provided with a driving mechanism, a bottom plate and a supporting rod; one ends of the four supporting rods are symmetrically and fixedly arranged on the shell from front to back; the two fixing frames are symmetrically and fixedly arranged on the shell in front and back; the two bottom plates are symmetrically arranged front and back, are respectively and rotatably arranged between the support rods on the two sides, and are synchronously driven by a driving mechanism arranged on the third fixing frame.
Further, the bottom plate turnover mechanism is also provided with a special-shaped circular plate and a fixed rod; the two fixing rods are respectively and fixedly arranged on a bottom plate; the two special-shaped circular plates are respectively and fixedly arranged on a fixing frame III, are respectively driven by corresponding motors fixedly arranged on the fixing frame III, are respectively and intermittently matched with a fixing rod, and are used for fixing the two overturned bottom plates.
Further, the driving mechanism is provided with a rotating shaft, a rotating shaft II, a rotating shaft III, a rotating shaft IV and a rotating shaft V; the rotating shaft and the rotating shaft II are rotatably arranged on the front side fixing frame III and are in transmission connection through the belt II so as to realize synchronous rotation; the output end of the motor I is fixedly connected with a bevel gear I, one end of the rotating shaft is fixedly connected with a bevel gear II, and the bevel gear I is meshed with the bevel gear II;
the rotating shaft III is rotatably arranged between the two support rods at the front side and is fixedly connected with a bottom plate between the two support rods; a gear I is fixedly arranged on the second rotating shaft, and a gear II is fixedly arranged on one end, corresponding to the second rotating shaft, of the third rotating shaft; the first gear is meshed with the second gear;
the rotating shaft IV is rotatably arranged on a fixing frame III at the rear side and is in transmission connection with the rotating shaft III through a belt III;
the rotating shaft is arranged between the two support rods at the rear side in a five-rotation mode and is fixedly connected with a bottom plate between the two support rods; a gear III is fixedly arranged on the rotating shaft IV, and a gear IV is fixedly arranged at one end of the rotating shaft IV corresponding to the rotating shaft IV; and the gear III and the gear IV are meshed with each other.
Further, the two fixing mechanisms are symmetrically and fixedly arranged on a bottom plate respectively; each fixing mechanism is provided with an air pump, a supporting frame, a fixing plate, a rotating disc and a motor III; the two supporting frames are symmetrically and fixedly arranged on the bottom plate; the two rotating discs are respectively and rotatably arranged on one supporting frame and are driven by a motor III fixedly arranged on the bottom plate; the fixed plate is fixedly arranged between the two rotating discs; a plurality of suckers are fixedly mounted on the fixing plate and are connected in series through an air pipe, and one end of the air pipe is connected with the air pump.
Further, an electric screw device and a pressing plate are arranged on the pressing device; the electric screw rod device is arranged on the shell; the pressing plate is vertically and slidably arranged in the shell, corresponds to the self-adaptive navigation situation sensing equipment, is positioned at the upper end of the self-adaptive navigation situation sensing equipment and is driven by the electric screw rod device.
Further, a second fixing mechanism is further arranged on the fixing device, one end of the second fixing mechanism is fixedly connected with the inside of the shell, and the other end of the second fixing mechanism is fixedly connected with the outer side of the self-adaptive navigation situation sensing device.
Further, the second fixing mechanism comprises a second spring; the springs II are symmetrically distributed in the front and the back of the self-adaptive navigation situation sensing equipment, one end of each spring II is fixedly connected with the inner side of the shell, and the other end of each spring II is fixedly connected with the outer side of the self-adaptive navigation situation sensing equipment.
Compared with the prior art, the invention has the advantages that:
(1) According to the invention, the self-adaptive navigation situation sensing equipment can be put on a ship board through the unmanned aerial vehicle, a pilot does not need to carry the self-adaptive navigation situation sensing equipment to land on the ship, and the safety risk caused by landing of the pilot on the ship is effectively avoided;
(2) According to the invention, the buffer landing device and the fixing device can reduce the collision force suffered in the throwing process of the self-adaptive navigation situation sensing equipment, so that the self-adaptive navigation situation sensing equipment can land on a ship plate more safely;
(3) According to the self-adaptive navigation situation sensing device, the self-adaptive navigation situation sensing device can be fixed on the ship board through the fixing device, so that the self-adaptive navigation situation sensing device cannot move due to the self-oscillation of the ship body, and the situation that detection data are inaccurate due to the movement of the self-adaptive navigation situation sensing device is avoided;
(4) The invention can float on the sea surface through the air bag, and even if equipment falls into water due to unexpected conditions, the equipment can be recovered more conveniently, and the loss is reduced.
Drawings
FIGS. 1-3 are schematic views of the assembled structure of the present invention;
FIG. 4 is a schematic view of the assembled structure of the connecting device and the housing of the present invention;
FIG. 5 is a schematic view of the assembled structure of a portion of the connecting device of the present invention;
FIG. 6 is a schematic view of the assembled structure of the buffer landing gear and housing of the present invention;
FIG. 7 is a schematic view of an assembled structure of the buffer landing device of the present invention;
FIG. 8 is a schematic view of a partial enlarged structure of the present invention at A in FIG. 7;
FIG. 9 is a schematic view showing an assembled structure of the buffer landing gear, the fixing device and the housing of the present invention;
FIG. 10 is a schematic view of an assembled structure of the fixing device of the present invention;
FIG. 11 is a schematic structural view of a third fixing frame of the present invention;
FIGS. 12-13 are schematic views of the assembled structure of the floor turnover mechanism of the present invention;
FIG. 14 is a schematic view of a partially enlarged structure of the present invention at B in FIG. 13;
FIGS. 15-16 are schematic views of the assembled construction of the base plate tilting mechanism portion of the present invention;
FIG. 17 is a schematic view of a partially enlarged construction of the present invention at C in FIG. 16;
FIG. 18 is a schematic diagram of the assembled structure of the spring, housing and adaptive navigational situation awareness apparatus of the present invention;
FIGS. 19-20 are schematic views of the assembled structure of the securing mechanism of the present invention;
FIGS. 21-22 are schematic views showing the assembled structure of the pressing device of the present invention;
fig. 23 is a schematic view showing a structure of the buffer landing device of the present invention in an unfolded state.
In the figure: 1-connecting devices (101-fixed disc, 102-spring I, 103-fixed frame, 104-movable plate, 105-cylinder, 106-push rod, 107-limit rod); 2-buffer landing device (201-second fixing frame, 202-first arc rod, 203-second arc rod, 204-third fixing frame, 205-first motor, 206-belt); 3-fixing device [ 31-bottom plate turnover mechanism (3101-motor two, 3102-special circular plate, 3103-bottom plate, 3104-fixing rod, 3105-support rod, 3106-bevel gear one, 3017-bevel gear two, 3108-rotating shaft, 3109-belt two, 3110-rotating shaft two, 3111-rotating shaft three, 3112-belt three, 3113-rotating shaft four, 3114-rotating shaft five); 32-fixing mechanism (3201-air pump, 3202-sucking disc, 3203-support frame, 3204-fixing plate, 3205-rotating disc, 3206-motor three); 33-second fixing mechanism (3301-second spring), 4-pressing device (401-electric screw device, 402-pressing plate, 403-sliding rod); 5-an air bag; 6-shell.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution of the embodiments of the present invention will be clearly and completely described below, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
Examples:
as shown in fig. 1-3, the self-adaptive sailing situation awareness device throwing protection device based on ship piloting comprises: a connecting device 1, a buffer dropping device 2, a fixing device 3, a pressing device 4 and a shell 6; an opening for the self-adaptive navigation situation sensing equipment to pass through is formed in the bottom of the shell 6; one end of the connecting device 1 is fixedly connected with the unmanned aerial vehicle, and the other end of the connecting device is in sliding connection with the shell 6; the self-adaptive navigation situation sensing equipment is arranged in the shell 6 and is fixed through the fixing device 3 arranged on the shell 6; the pressing device 4 is arranged on the shell 6 and is positioned above the self-adaptive navigation situation sensing equipment and used for pressing the self-adaptive navigation situation sensing equipment downwards; the buffer landing device 2 is arranged outside the shell 6; the self-adaptive navigation situation sensing equipment in the implementation is conventional equipment, and is specifically branded as Xsens, the model is MTi-680 (G) RTK GNSS/INS, and the length, width and height dimensions are 56mm multiplied by 41mm multiplied by 37mm;
the fixing device 3 is provided with a bottom plate turnover mechanism 31, a fixing mechanism 32 and a fixing mechanism II 33; the bottom plate turnover mechanism 31 is rotatably arranged at the bottom end of the shell 6, and the fixing mechanism 32 is fixedly arranged on the bottom plate turnover mechanism 31; the bottom plate turnover mechanism 31 rotates when a certain distance is kept from the ship plate, so that the fixing mechanism 32 is vertical to the ship plate, and the fixing mechanism 32 fixedly installs the equipment on the ship plate; the second fixing mechanism 33 is fixedly connected between the shell 6 and the self-adaptive navigation situation sensing equipment;
the bottom of the outer side of the shell 6 is fixedly provided with an air bag 5, the air bag 5 is positioned above the bottom plate turnover mechanism 31, and the air bag 5 and the bottom plate turnover mechanism are not interfered with each other;
a distance measuring sensor (not shown) is fixedly arranged on the outer side of the shell 6, and the sensor is specifically positioned between the bottom plate turnover mechanism 31 and the airbag 5 and is used for measuring the distance between the shell 6 and the ship plate.
The control device is used for controlling the operation of the whole self-adaptive navigation situation sensing equipment throwing protection device based on ship navigation except the control device, in the embodiment, the control device is electrically connected with the unmanned aerial vehicle operation remote controller, and an operator can control the unmanned aerial vehicle and the operation of the throwing protection device through one unmanned aerial vehicle operation remote controller.
Specifically, as shown in fig. 4 to 5, the connecting device 1 is provided with a fixed disk 101, a fixed frame 103, an air cylinder 105 and a pushing rod 106; the fixing plate 101 is detachably and fixedly arranged at the bottom of the unmanned aerial vehicle through screws (not shown in the figure); one end of each of the four fixing frames 103 is uniformly and fixedly arranged on the fixing disc 101, and the other end of each fixing frame 103 is horizontally and elastically slidably provided with a limiting rod 107 through a first spring 102; a chute corresponding to one end of the limiting rod 107 is arranged on the shell 6; two cylinders 105 are fixedly arranged on the fixed disc 101, and the output ends of the two cylinders 105 are fixedly connected with a movable plate 104; four pushing rods 106 are fixedly arranged on the moving plate 104 corresponding to the four limiting rods 107; the limiting rod 107 is provided with a through hole, one side of the through hole is an inclined plane, the pushing rod 106 vertically slides in the through hole of the limiting rod 107, and the pushing rod 106 is provided with an inclined plane a matched with the inclined plane of the through hole of the limiting rod 107; for pushing one end of the limit lever 107 into a slide groove on the housing 6 under the drive of the cylinder 105.
In an initial state, the fixed disc 101 is fixedly arranged on the unmanned aerial vehicle; the cylinder 105 is started to drive the moving plate 104 to move upwards, and then drive the 4 pushing rods 106 to move upwards, so that one ends of the 4 limiting rods 107 are driven to be inserted into the sliding grooves of the shell 6, and the shell 6 is fixed; the unmanned aerial vehicle takes off, drives the shell 6 to move, and a sensor on the shell 6 detects a proper position away from the ship plate, the cylinder 105 is started, drives the push rod 106 to move downwards, and the limit rod 107 slides out of a chute of the shell 6 under the action of the first spring 102, and then the shell 6 falls.
Specifically, as shown in fig. 6 to 8, the buffer landing device 2 is provided with a second fixing frame 201, a first arc-shaped rod 202, a second arc-shaped rod 203, a third fixing frame 204 and a belt 206; the 2 second fixing frames 201 are symmetrically and fixedly arranged on the shell 6 in the front-back direction; two ends of the arc-shaped rod II 203 are respectively and fixedly arranged on a fixed frame II 201, one end of the arc-shaped rod I202 is rotatably arranged on the fixed frame II 201, and the other end is rotatably arranged between the other fixed frame II 201 and the fixed frame III 204; a first motor 205 is fixedly arranged at the bottom end of the third fixing frame 204, and the output end of the first motor 205 is in transmission connection with one end of the corresponding first arc-shaped rod 202 through a belt 206; the arc-shaped rod I202 and the arc-shaped rod II 203 are connected through soft fabrics; when the shell falls to a certain extent, the first motor 205 rotates to drive the first arc-shaped rod 202 to rotate 180 degrees, at this time, the first arc-shaped rod 202, the second arc-shaped rod 203 and soft fabrics between the first arc-shaped rod and the second arc-shaped rod form a small parachute (shown in fig. 23), the falling speed of the shell 6 can be slowed down, the impact force received when the shell 6 falls onto a ship plate is reduced, and the self-adaptive navigation situation sensing equipment in the shell 6 is further protected from being damaged.
As a specific implementation manner of this embodiment, in order to enable the adaptive navigation situation sensing device to be stably fixed on the ship board and move without being affected by the shake of the ship body, as shown in fig. 9 to 17, the bottom plate turning mechanism 31 is provided with a bottom plate 3103, a supporting rod 3105, a rotating shaft 3108, a rotating shaft two 3110, a rotating shaft three 3111, a rotating shaft four 3113 and a rotating shaft five 3114; the shell 6 is square, and one ends of four supporting rods 3105 are symmetrically and fixedly arranged on four corners of the shell 6 respectively; a rotating shaft three 3111 is rotatably arranged between the front two support rods 3105, and a rotating shaft five 3114 is rotatably arranged between the rear two support rods 3105; a bottom plate 3103 is correspondingly and fixedly arranged on each of the rotating shaft three 3111 and the rotating shaft five 3114, and a fixing mechanism 32 is fixedly arranged on each of the two bottom plates 3103 and used for fixing the self-adaptive navigation situation sensing equipment;
the two fixing frames III 204 are symmetrically and fixedly arranged on the shell 6 in the front-back direction; a rotating shaft 3108 is rotatably arranged on the front side fixing frame III 204, a bevel gear I3106 is fixedly arranged on the output end of the motor I205, a bevel gear II 3107 is fixedly arranged at one end of the rotating shaft 3108 corresponding to the bevel gear I3106, and the bevel gear I3106 and the bevel gear II 3107 are meshed with each other; the first motor 205 drives the rotating shaft 3108 to rotate;
the front side fixing frame III 204 is also rotatably provided with a second rotating shaft 3110, and the second rotating shaft 3110 is in transmission connection with the rotating shaft 3108 through a second belt 3109; one end of the second rotating shaft 3110 is fixedly connected with a first gear, one end of the third rotating shaft 3111 corresponding to the second rotating shaft 3110 is fixedly provided with a second gear, and the second gear is meshed with the first gear; namely, the motor one 205 drives the rotating shaft 3108 to rotate, and then drives the rotating shaft three 3111 to rotate; a bottom plate 3103 is fixedly connected to the rotating shaft three 3111, and the bottom plate 3103 is driven to rotate;
in addition, as shown in fig. 13-14, a rotation shaft four 3113 is rotatably installed on the fixing frame three 204 at the rear side, and the rotation shaft four 3113 is in transmission connection with the rotation shaft three 3111 through a belt three 3112; a gear III is fixedly arranged on the rotating shaft IV 3113, a gear IV is fixedly arranged at one end of the rotating shaft IV 3114 corresponding to the rotating shaft IV 3113, and the gear III is meshed with the gear IV; therefore, the first motor 205 rotates to drive the third rotating shaft 3111 to rotate and then drive the fifth rotating shaft 3114 to rotate, the bottom plate 3103 is fixedly arranged on the fifth rotating shaft 3114, and the first motor 205 drives the bottom plate 3103 to rotate;
to sum up, the motor one 205 can synchronously drive the two bottom plates 3103 to rotate; the motor one 205 simultaneously drives the buffer landing device to start and the two bottom plates 3103 to turn over while the motor one 205 drives the arc-shaped rod one 202 to rotate 180 degrees, the buffer landing device starts, at this time, the two bottom plates 3103 synchronously rotate 180 degrees, the opening which is matched to block the lower end of the shell 6 is changed into the opening which is removed from the lower end of the shell 6, and the two bottom plates 3103 are parallel to the ship plate at this time.
As a specific implementation manner of this embodiment, in order to fix the turned bottom plate 3103 more stably, as shown in fig. 12-13 and 15, two fixing frames three are rotatably provided with a special-shaped circular plate 3102, and two fixing frames 3103 are fixedly provided with fixing rods 3104; the two special-shaped circular plates 3102 are respectively driven by two motors two 3101 fixedly arranged on a third fixing frame 204 and are respectively matched with two fixing rods 3104 intermittently for fixing the two turned bottom plates 3103; after the bottom plate 3103 rotates 180 degrees, the motor two 3101 drives the special-shaped circular plate 3102 to rotate, so that the special-shaped circular plate 3102 clamps the fixing rod 3104, the bottom plate 3103 is prevented from rotating inwards of the shell 6, and the bottom opening of the shell 6 is sealed.
In particular, as shown in fig. 19 to 20, two fixing mechanisms 32 are symmetrically and fixedly mounted on one bottom plate 3103, respectively; each fixing mechanism 32 is provided with an air pump 3201, a supporting frame 3203, a fixing plate 3204, a rotating disc 3205 and a motor III 3206; two support frames 3203 are symmetrically and fixedly arranged on the bottom plate 3103; the two rotating discs 3205 are respectively rotatably mounted on one supporting frame 3203 and are driven by a motor III 3206 fixedly mounted on the bottom plate 3103; the fixed plate 3204 is fixedly installed between the two rotating discs 3205; 3 suckers 3202 are fixedly arranged on the fixing plate 3204, the 3 suckers 3202 are connected in series through an air pipe, and one end of the air pipe is connected with the air pump 3201; as a specific implementation of this embodiment, the air pump 3201 is an SJA micro vacuum pump;
in an initial state, the self-adaptive navigation situation sensing device is fixedly arranged on the suckers 3202 of the two fixing mechanisms 32; when the bottom plate 3103 needs to rotate, the air pump 3201 inflates between the suction cup 3202 and the adaptive navigation situation sensing device, so that the suction cup 3202 is separated from the adaptive navigation situation sensing device; when the rotation of the bottom plate 3103 is completed, the third motor 3206 rotates to drive the rotation disc 3205 to rotate to drive the fixing plate 3204 to rotate, so that the sucking disc 3202 on the fixing plate 3204 is perpendicular to the ship plate; when the device falls onto the boat deck, the suction cup 3202 is abutted against the boat deck, the air pump 3201 is started, and air between the suction cup 3202 and the boat deck is sucked away, so that the device is fixed on the boat deck.
Specifically, as shown in fig. 18, the adaptive navigation situation awareness apparatus is installed inside the housing 6 and is fixed by the second fixing mechanism 33, and the second fixing mechanism 33 includes a second spring 3301; the 4 springs II 3301 are symmetrically distributed in the front and the back of the self-adaptive navigation situation sensing equipment, springs on the front and the back sides are symmetrically distributed up and down, one end of each spring II is fixedly connected with the inner side of the shell 6, and the other end of each spring II is fixedly connected with the outer side of the self-adaptive navigation situation sensing equipment; when the fixing mechanism 32 is separated from the self-adaptive navigation situation sensing device, the self-adaptive navigation situation sensing device is elastically installed inside the shell 6 through the second spring 3301; the spring II 3301 can ensure that the self-adaptive navigation situation sensing equipment can be installed inside the shell 6 and does not fall off, and the impact suffered by the self-adaptive navigation situation sensing equipment is reduced in a limited manner when the self-adaptive navigation situation sensing equipment falls on a ship plate, so that the throwing safety of the self-adaptive navigation situation sensing equipment is improved.
In addition, in order to enable the self-adaptive navigation situation sensing device to be better attached to the ship body so as to detect more truly effective data, as shown in fig. 21-22, a pressing device 4 is arranged at the upper end inside the shell 6; the pressing device 4 is provided with an electric screw device 401, a pressing plate 402 and a sliding rod 403; the electric screw device 401 is arranged at the upper end of the inside of the shell 6, and the screw is divided into forward and reverse threads from the middle position; the pressing plate 402 is arranged inside the shell 6 in a vertically sliding manner, corresponds to the self-adaptive navigation situation sensing equipment and is positioned at the upper end of the self-adaptive navigation situation sensing equipment; one end of each of the two sliding rods 403 is in threaded connection with one of the two rotating directions, and synchronously moves in opposite directions or moves in opposite directions under the rotation of the electric screw device 401; the other ends of the two sliding rods 403 are respectively rotatably arranged on the pressing plate 402, and the pressing plate 402 is driven by the electric screw device 401 to move up and down;
when the equipment falls onto the ship board, after the equipment is fixed by the fixing device, the electric screw device 401 is started to drive the pressing plate 402 to move downwards, so that the pressing plate 402 drives the self-adaptive navigation situation sensing equipment to move downwards and further cling to the ship board; because the self-adaptive navigation situation sensing device is elastically connected inside the shell 6 through the second spring 3301, the self-adaptive navigation situation sensing device can be tightly attached to the ship board under the driving of the pressing plate 402.
In order to prevent accidents, the lower end of the outer side of the shell 6 is fixedly provided with an air bag 5, so that the device can float on the sea surface when falling into the sea, and the salvage is convenient.
The first motor 205, the second motor 3101, the air pump 3201, the electric screw device 401 and the sensor are all electrically connected with the control device.
Working principle:
in an initial state, the self-adaptive navigation situation sensing equipment is arranged in the shell 6, and the connecting device 1 is fixedly arranged at the bottom of the unmanned plane;
firstly, an operator fixedly installs a shell 6 on a connecting device 1, starts an unmanned aerial vehicle and drives the shell 6 to move;
secondly, starting a sensor, and starting an air pump 3201 to separate a sucker 3202 from the self-adaptive navigation situation sensing equipment; when a proper distance is detected, the motor I205 is started to drive the buffer landing device to start, and the bottom plate 3103 is synchronously driven to turn over;
thirdly, after the bottom plate 3103 is turned over, the motor II 3101 is started to drive the special-shaped circular plate 3102 to fix the bottom plate 3103; motor three 3206 is started to drive sucking disc 3202 to rotate;
fourth, when the device is dropped onto the ship board, the air pump 3201 is started to fix the suction cup 3202 with the ship board;
and fifthly, starting the electric screw device 401 to drive the pressing plate 402 to tightly attach the self-adaptive navigation situation sensing equipment to the ship plate.
Although the present embodiment is described in detail in the foregoing description, the scope of the present embodiment is not limited thereto, and any person skilled in the art should be able to substitute or change the technical solution and the inventive concept according to the present embodiment within the scope of the present embodiment.
Claims (6)
1. Self-adaptation navigation situation perception equipment throws protection device based on boats and ships are piloted, a serial communication port, include: the device comprises a connecting device (1), a buffer dropping device (2), a fixing device (3), a pressing device (4), a shell (6) and a control device; an opening for the self-adaptive navigation situation sensing equipment to pass through is formed in the bottom of the shell (6); one end of the connecting device (1) is fixedly connected with the unmanned aerial vehicle, and the other end of the connecting device is in sliding connection with the shell (6); the self-adaptive navigation situation sensing equipment is arranged in the shell (6) and is fixed through the fixing device (3) arranged on the shell (6); the pressing device (4) is arranged on the shell (6) and is positioned above the self-adaptive navigation situation sensing equipment and used for pressing the self-adaptive navigation situation sensing equipment downwards; the buffer landing device (2) is arranged outside the shell (6);
the fixing device (3) is provided with a bottom plate turnover mechanism (31), a fixing mechanism (32) and a fixing mechanism II (33); the bottom plate turnover mechanism (31) is rotatably arranged at the bottom end of the shell (6), and the fixing mechanism (32) is fixedly arranged on the bottom plate turnover mechanism (31); when the self-adaptive navigation situation sensing equipment throwing protection device is a certain distance away from the ship board, the bottom plate overturning mechanism (31) rotates to enable the fixing mechanism (32) to be perpendicular to the ship board, and the fixing mechanism (32) fixedly installs the self-adaptive navigation situation sensing equipment throwing protection device on the ship board; the second fixing mechanism (33) is fixedly connected between the shell (6) and the self-adaptive navigation situation sensing equipment;
an air bag (5) and a sensor for distance measurement are fixedly arranged on the shell (6);
the buffer landing device (2) is provided with a second fixing frame (201), a first arc-shaped rod (202), a second arc-shaped rod (203) and a third fixing frame (204); the two fixing frames II (201) are symmetrically and fixedly arranged on the shell (6) front and back; the third fixing frame (204) is fixedly arranged on the shell (6); two ends of the arc-shaped rod II (203) are respectively and fixedly arranged on a fixing frame II (201); two ends of the first arc-shaped rod (202) are respectively and rotatably arranged on a second fixing frame (201), correspond to the second arc-shaped rod (203) and are driven by a first motor (205) fixedly arranged on a third fixing frame (204); the arc-shaped rod I (202) and the arc-shaped rod II (203) are connected through soft fabrics;
the bottom plate turnover mechanism (31) is provided with a driving mechanism, a bottom plate (3103) and a supporting rod (3105); one ends of the four supporting rods (3105) are symmetrically and fixedly arranged on the shell (6) front and back; the two fixing frames III (204) are symmetrically and fixedly arranged on the shell (6) front and back; the two bottom plates (3103) are symmetrically arranged front and back, are respectively rotatably arranged between the support rods (3105) on the left side and the right side, and are synchronously driven by a driving mechanism arranged on the third fixing frame (204);
the bottom plate turnover mechanism (31) is also provided with a special-shaped circular plate (3102) and a fixed rod (3104); the two fixing rods (3104) are respectively fixedly arranged on one bottom plate (3103); the two special-shaped circular plates (3102) are respectively and fixedly arranged on a third fixing frame (204), are respectively driven by a second motor (3101) fixedly arranged on the third fixing frame (204), are respectively and intermittently matched with a fixing rod (3104) and are used for fixing the two overturned bottom plates (3103);
the control device is used for controlling the operation of the throwing protection device of the whole self-adaptive navigation situation sensing equipment based on ship navigation except the control device.
2. The self-adaptive sailing situation awareness apparatus throwing protection device based on ship piloting according to claim 1, wherein: the connecting device (1) is provided with a fixed disc (101), a fixed frame (103), an air cylinder (105) and a pushing rod (106); the fixed disc (101) is fixedly arranged on the unmanned aerial vehicle; at least two fixing frames (103) are uniformly distributed and fixedly arranged on the fixing disc (101), and a limiting rod (107) is horizontally and elastically arranged at the other end of the fixing frame in a sliding manner; a chute corresponding to one end of the limiting rod (107) is arranged on the shell (6); the pushing rods (106) are corresponding to the limit rods (107); the limiting rod (107) is provided with a through hole, and the pushing rod (106) is slidably arranged in the through hole on the limiting rod (107) and is driven by an air cylinder (105) fixedly arranged on the fixed disc (101); the pushing rod (106) is provided with an inclined plane a, and is used for pushing one end of the limiting rod (107) into a sliding groove on the shell (6) under the driving of the air cylinder (105).
3. The self-adaptive sailing situation awareness apparatus throwing protection device based on ship piloting according to claim 1, wherein: the driving mechanism is provided with a rotating shaft (3108), a rotating shaft two (3110), a rotating shaft three (3111), a rotating shaft four (3113) and a rotating shaft five (3114); the rotating shaft (3108) and the rotating shaft II (3110) are rotatably arranged on the front side fixing frame III (204) and are in transmission connection through the belt II (3109) to realize synchronous rotation; the output end of the motor I (205) is fixedly connected with a bevel gear I (3106), one end of the rotating shaft (3108) is fixedly connected with a bevel gear II (3017), and the bevel gear I (3106) and the bevel gear II (3017) are meshed with each other;
the rotating shaft III (3111) is rotatably arranged between the two front support rods (3105) and is fixedly connected with a bottom plate (3103) between the two support rods (3105); a first gear is fixedly arranged on the second rotating shaft (3110), and a second gear is fixedly arranged on one end, corresponding to the second rotating shaft (3110), of the third rotating shaft (3111); the first gear is meshed with the second gear;
the rotating shaft IV (3113) is rotatably arranged on the fixing frame III (204) at the rear side and is in transmission connection with the rotating shaft III (3111) through a belt III (3112);
the rotating shaft five (3114) is rotatably arranged between the two support rods (3105) at the rear side and is fixedly connected with a bottom plate (3103) between the two support rods (3105); a gear III is fixedly arranged on the rotating shaft IV (3113), and a gear IV is fixedly arranged at one end of the rotating shaft IV (3114) corresponding to the rotating shaft IV (3113); and the gear III and the gear IV are meshed with each other.
4. The self-adaptive sailing situation awareness apparatus throwing protection device based on ship piloting according to claim 1, wherein: the two fixing mechanisms (32) are symmetrically and fixedly arranged on a bottom plate (3103) respectively; each fixing mechanism (32) is provided with an air pump (3201), a supporting frame (3203), a fixing plate (3204), a rotating disc (3205) and a motor III (3206); the two supporting frames (3203) are symmetrically and fixedly arranged on the bottom plate (3103); the two rotating discs (3205) are respectively rotatably arranged on one supporting frame (3203) and driven by a motor III (3206) fixedly arranged on the bottom plate (3103); the fixed plate (3204) is fixedly arranged between the two rotating discs (3205); a plurality of suckers (3202) are fixedly mounted on the fixing plate (3204), the suckers (3202) are connected in series through an air pipe, and one end of the air pipe is connected with the air pump (3201).
5. The self-adaptive sailing situation awareness apparatus throwing protection device based on ship piloting according to claim 1, wherein: an electric screw rod device (401) and a pressing plate (402) are arranged on the pressing device (4); the electric screw device (401) is arranged on the shell (6); the pressing plate (402) is vertically and slidably arranged in the shell (6), corresponds to the self-adaptive navigation situation sensing equipment, is positioned at the upper end of the self-adaptive navigation situation sensing equipment and is driven by the electric screw device (401).
6. The self-adaptive sailing situation awareness apparatus throwing protection device based on ship piloting according to claim 1, wherein: the second fixing mechanism (33) comprises a second spring (3301); the springs II (3301) are symmetrically distributed in the front and the back of the self-adaptive navigation situation sensing equipment, one end of each spring II is fixedly connected with the inner side of the shell, and the other end of each spring II is fixedly connected with the outer side of the self-adaptive navigation situation sensing equipment.
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| CN202311122245.7A CN116873201B (en) | 2023-09-01 | 2023-09-01 | Self-adaptive navigation situation sensing equipment throwing protection device based on ship navigation |
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| CN202311122245.7A CN116873201B (en) | 2023-09-01 | 2023-09-01 | Self-adaptive navigation situation sensing equipment throwing protection device based on ship navigation |
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